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Extend template values with Similarity2 and Similarity3

release/4.3a0
Maciej Halber 2025-03-21 11:00:48 -04:00
parent 858808475c
commit 8f3a447116
2 changed files with 22 additions and 4 deletions
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16
gtsam/nonlinear/nonlinear.i
View File

@ -17,6 +17,8 @@ namespace gtsam {
#include <gtsam/geometry/Point3.h>
#include <gtsam/geometry/Pose2.h>
#include <gtsam/geometry/Pose3.h>
#include <gtsam/geometry/Similarity2.h>
#include <gtsam/geometry/Similarity3.h>
#include <gtsam/geometry/Rot2.h>
#include <gtsam/geometry/Rot3.h>
#include <gtsam/geometry/SO3.h>
@ -74,6 +76,8 @@ class NonlinearFactorGraph {
gtsam::Rot3,
gtsam::Pose2,
gtsam::Pose3,
gtsam::Similarity2,
gtsam::Similarity3,
gtsam::Cal3_S2,
gtsam::Cal3f,
gtsam::Cal3Bundler,
@ -544,7 +548,7 @@ class ISAM2 {
bool valueExists(gtsam::Key key) const;
gtsam::Values calculateEstimate() const;
template <VALUE = {gtsam::Point2, gtsam::Rot2, gtsam::Pose2, gtsam::Point3,
gtsam::Rot3, gtsam::Pose3, gtsam::Cal3_S2, gtsam::Cal3DS2,
gtsam::Rot3, gtsam::Pose3, gtsam::Similarity2, gtsam::Similarity3, gtsam::Cal3_S2, gtsam::Cal3DS2,
gtsam::Cal3f, gtsam::Cal3Bundler,
gtsam::EssentialMatrix, gtsam::FundamentalMatrix, gtsam::SimpleFundamentalMatrix,
gtsam::PinholeCamera<gtsam::Cal3_S2>,
@ -609,6 +613,8 @@ template <T = {double,
gtsam::Rot3,
gtsam::Pose2,
gtsam::Pose3,
gtsam::Similarity2,
gtsam::Similarity3,
gtsam::Unit3,
gtsam::Cal3_S2,
gtsam::Cal3DS2,
@ -633,7 +639,7 @@ virtual class PriorFactor : gtsam::NoiseModelFactor {
#include <gtsam/nonlinear/NonlinearEquality.h>
template <T = {gtsam::Point2, gtsam::StereoPoint2, gtsam::Point3, gtsam::Rot2,
gtsam::SO3, gtsam::SO4, gtsam::SOn, gtsam::Rot3, gtsam::Pose2,
gtsam::Pose3, gtsam::Cal3_S2, gtsam::CalibratedCamera,
gtsam::Pose3, gtsam::Similarity2, gtsam::Similarity3, gtsam::Cal3_S2, gtsam::CalibratedCamera,
gtsam::PinholeCamera<gtsam::Cal3_S2>,
gtsam::PinholeCamera<gtsam::Cal3Bundler>,
gtsam::PinholeCamera<gtsam::Cal3Fisheye>,
@ -651,7 +657,7 @@ virtual class NonlinearEquality : gtsam::NoiseModelFactor {
template <T = {gtsam::Point2, gtsam::StereoPoint2, gtsam::Point3, gtsam::Rot2,
gtsam::SO3, gtsam::SO4, gtsam::SOn, gtsam::Rot3, gtsam::Pose2,
gtsam::Pose3, gtsam::Cal3_S2, gtsam::CalibratedCamera,
gtsam::Pose3, gtsam::Similarity2, gtsam::Similarity3, gtsam::Cal3_S2, gtsam::CalibratedCamera,
gtsam::PinholeCamera<gtsam::Cal3_S2>,
gtsam::PinholeCamera<gtsam::Cal3Bundler>,
gtsam::PinholeCamera<gtsam::Cal3Fisheye>,
@ -720,7 +726,7 @@ virtual class BatchFixedLagSmoother : gtsam::FixedLagSmoother {
gtsam::NonlinearFactorGraph getFactors() const;
template <VALUE = {gtsam::Point2, gtsam::Rot2, gtsam::Pose2, gtsam::Point3,
gtsam::Rot3, gtsam::Pose3, gtsam::Cal3_S2, gtsam::Cal3DS2,
gtsam::Rot3, gtsam::Pose3, gtsam::Similarity2, gtsam::Similarity3, gtsam::Cal3_S2, gtsam::Cal3DS2,
gtsam::Vector, gtsam::Matrix}>
VALUE calculateEstimate(size_t key) const;
};
@ -732,6 +738,8 @@ template <T = {gtsam::Point2,
gtsam::Rot3,
gtsam::Pose2,
gtsam::Pose3,
gtsam::Similarity2,
gtsam::Similarity3,
gtsam::NavState,
gtsam::imuBias::ConstantBias}>
virtual class ExtendedKalmanFilter {

10
gtsam/nonlinear/values.i
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@ -17,6 +17,8 @@ namespace gtsam {
#include <gtsam/geometry/Point3.h>
#include <gtsam/geometry/Pose2.h>
#include <gtsam/geometry/Pose3.h>
#include <gtsam/geometry/Similarity2.h>
#include <gtsam/geometry/Similarity3.h>
#include <gtsam/geometry/Rot2.h>
#include <gtsam/geometry/Rot3.h>
#include <gtsam/geometry/SO3.h>
@ -80,6 +82,8 @@ class Values {
void insert(size_t j, const gtsam::SOn& P);
void insert(size_t j, const gtsam::Rot3& rot3);
void insert(size_t j, const gtsam::Pose3& pose3);
void insert(size_t j, const gtsam::Similarity2& similarity2);
void insert(size_t j, const gtsam::Similarity3& similarity3);
void insert(size_t j, const gtsam::Unit3& unit3);
void insert(size_t j, const gtsam::Cal3Bundler& cal3bundler);
void insert(size_t j, const gtsam::Cal3f& cal3f);
@ -122,6 +126,8 @@ class Values {
void update(size_t j, const gtsam::SOn& P);
void update(size_t j, const gtsam::Rot3& rot3);
void update(size_t j, const gtsam::Pose3& pose3);
void update(size_t j, const gtsam::Similarity2& similarity2);
void update(size_t j, const gtsam::Similarity3& similarity3);
void update(size_t j, const gtsam::Unit3& unit3);
void update(size_t j, const gtsam::Cal3Bundler& cal3bundler);
void update(size_t j, const gtsam::Cal3f& cal3f);
@ -161,6 +167,8 @@ class Values {
void insert_or_assign(size_t j, const gtsam::SOn& P);
void insert_or_assign(size_t j, const gtsam::Rot3& rot3);
void insert_or_assign(size_t j, const gtsam::Pose3& pose3);
void insert_or_assign(size_t j, const gtsam::Similarity2& similarity2);
void insert_or_assign(size_t j, const gtsam::Similarity3& similarity3);
void insert_or_assign(size_t j, const gtsam::Unit3& unit3);
void insert_or_assign(size_t j, const gtsam::Cal3Bundler& cal3bundler);
void insert_or_assign(size_t j, const gtsam::Cal3f& cal3f);
@ -196,6 +204,8 @@ class Values {
gtsam::SOn,
gtsam::Rot3,
gtsam::Pose3,
gtsam::Similarity2,
gtsam::Similarity3,
gtsam::Unit3,
gtsam::Cal3Bundler,
gtsam::Cal3f,